diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00004/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00004/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..83f2a0855d6e82985363b91ca4af30747df9d1da
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00004/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f004614a249d582a38790d7b4fe3fc8a3816f12f02fe2e3c98af07420689b99c
+size 1884311
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00004/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00004/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..38e5ffd94caf461cc7156c65444e395f57920ef5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00004/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93b8efd2a542c9c2308536c3f2e1d6ec84bc4e6a715795a3dda6352de6f92c3e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00004/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00004/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d7de172bca80d4ab54ed14da2ac9f6ffa0ead19
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00004/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f56b2b783649050dd75c92d802572620a086023a6de930872c0bf3492e20fd9
+size 140560
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00004/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00004/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..296abd84037523a5b84ce34525d2633e5a4f2e0e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00004/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc17a94b4c4177e1250a71bb6324a53d8bac09d8895f6a91ec0d764f1f7b650d
+size 1980102
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00009/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00009/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0d1aad25d5d1b17022162c14096bd79ea788266e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00009/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c13dc16517621d0dc5c6d695e35b20a3188938459ebc23febf2408f9d10c1970
+size 1889811
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00009/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00009/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d682ba6272cc2462b62ab633516037deb0b8848f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00009/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:819c7b99c60edeeb07513fc9607e91e78e4e02b0974396b6bf5d21bb4971bbd9
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00009/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00009/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5929c2bbb550d1d8c8acb7969040ca0f6ae58808
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00009/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcca517136b0d09e3b00615e873c27b47b78cf103f490bb800d5d77eb0fb270e
+size 144077
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00009/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00009/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e498ffe542fdc83f9dea3e0c3e040ed9dbd0386
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00009/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fba2c104ff39cedca448fcacaafdfb00f7ea09e02d65c3b5c8d4adad659586c8
+size 1973903
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00017/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00017/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..215dd48a17ea55ed7647098ea3fb5a7b9b0272e3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00017/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef404d04464eb3e1bbd8729bb0f9ece65bd6a2e86cb6803f7d2aacedafe6fb6a
+size 1909991
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00017/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00017/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7a73846ad5c58b95ce784814f76ced703bcde4f1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00017/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d733a461d157f2948fc68faafe3f8b90a6d3ff95424de0f8de5b2a654a3846b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00017/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00017/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..873d2b0ff9ecb4c4559e7e61a20eb56b29256fe2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00017/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfeeae83586ffc38ce5741a36cd9c5f5f2974ce623cb84f6d7f7ff264d95c35f
+size 137339
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00017/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00017/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..936755cf12d21946438d922544aa594abdb419d4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00017/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3908eb8b9073ea44062ffb9ac7069fa87ec79162bf91c52ce853bff1ea03b5a5
+size 1985669
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00021/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00021/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..34ec77d56385d6928da811db5050e90581400236
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00021/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0d524c6a14e0cc49bfcf3d1f2cb7d3ade6d873ee345106f8d33b61e960eb196
+size 1925328
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00021/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00021/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3387c054802d45a12bd21c00fe8fe9b211624262
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00021/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73c255f32ad61579f2dfca93d619c9821a89401cc672d2d81ba301c516db757a
+size 1998721
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00022/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00022/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e63e9886ea663d4e46fb7bd9b9f3c95df4753e56
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00022/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df5093605822830ec0d7753f0eb4120d5ea06cb92ef43d0c46ef449a505be49d
+size 1921551
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00022/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00022/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..df6d5a60f874b9a58b89c1621ff7d092afd96104
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00022/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ce91f44c1941d2463c52d4ef036136110edf20ca14daaea73a5f42e30208627
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00022/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00022/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d4f453760884346661a49d655881770b48782966
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00022/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bfa0be8d701a0146c8059389e759ee4587bddbb288d67a6dd3f704b837095720
+size 136302
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00022/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00022/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..364e291dcbc400d7b1456df6224f1384c07f99fe
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00022/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1703433f53419c4fdec4f4dc689cd027e6a53642e8ff96d47da4bbf843a47634
+size 2003194
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00034/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00034/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..34460d25d9d383df7bf3db2427acde2b5286066c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00034/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb33d642b37c05f35147af23154095723333dea05282e1f612d6430ca54d88f8
+size 1933683
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00034/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00034/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f1e349b0ae2549f69ae3de2f019ce108da3db18d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00034/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4edc9ad4d2fcce4298e1f2756e985a88421c99e92beb7e2c9d67389f94d3657
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00034/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00034/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..db25d72c9c81e18d000a06c2beb22833a99b544c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00034/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:078aa9893e103da066b408fbd9cc101e93305a39d728fca7be0c427408645bf7
+size 135511
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00034/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00034/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..94445fa5e1733d4d5199574fae435eaf83897ec3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00034/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50e0a957198af7d0f82e6bc14f6345271b18a9f723a6f0b1042fdbaa7ce1bc2b
+size 2001022
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00041/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00041/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b996fe4c96ce59aa48303e562394db803de70481
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00041/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7114ef8bfdab2ad6dab7553bcb5cd476d5c81cad3c2908e4b3f4990eb0f03183
+size 1938865
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00041/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00041/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..809394d4e4430c2d3a8106f3eda3a7c66b87111d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00041/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:937e63bac436953efa8b61fba6bb1e64075f6357c0e9c5b9bfb46733c628a9de
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00041/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00041/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9a27324935363b1e2af0691d1d132fbaa4049ba9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00041/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bb78fed47f57cfe7605bb5a1231ed5f312c4cc160fcf2d63ac5e27defb3e4eb
+size 131703
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00041/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00041/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..de9923372a0ff8492427aa5b6c1d8632caab3a45
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00041/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44cac3a2c3e1d68effe36848d70fbf949451dc4594b0f639684ac4dfa20906b9
+size 1989641
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00046/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00046/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0e1e54a9770e7fdb3e17151053698a510b27ede
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00046/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9fdfab3da6b0a348ad01adf953db7f1e4ceb40f55e21f7ac37fc21ae6345501
+size 1938648
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00046/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00046/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8b1d99a12e1c1fa0d878daa75e51766be987eaad
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00046/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cca62048ed9c967b5602a039564af2708a91f47fd60bc2978373c05fac56fc29
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00046/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00046/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..30e6eae8bd293c40f447dc931db81871b504d49a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00046/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb0bd52b42f1ad02b78264e271a7239a74bec31d1b1bf2ed0a4a9b46b631af27
+size 132042
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00046/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00046/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..bd983f73be284deade46f4e997ea4ed7623da6be
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00046/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:594d5530f322cbcb9e02ae58ef321db4191fd902014c627c27a1ec62ae13ddac
+size 1983620
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00047/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00047/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..afd1cf10a5dd1d625f411e3ebf309c9a54f33480
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00047/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5778e1f2b4b15e8770b3b6d63a55153461fc5dcc32c8b17d4ff3b9121ccb11d7
+size 1932971
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00047/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00047/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..86009c55c504860cbe65373c1a61385df778a5dd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00047/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffa77046693298beb9db30d92f3addda07cd8a9258e10a693e370fecc45183b2
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00047/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00047/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d97c7099ffc27025482dcb3b67dd22049c16fdfb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00047/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cd95719e361dfe60c54525f5ace8abb4ab6d8f53fbffb203372ac2033a39f7f
+size 133563
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00047/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00047/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9085697442f4238735af3eaf90383d09dd8f2683
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00047/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b711a0947d41441561df698f2ef076617a81b75622b9d3a37ad5578a72618a81
+size 1981897
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00053/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00053/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..89fc0f2de72fbaf4334f15c2b68e8489638b76d0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00053/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3916a446280ad24904b80ce64affaa60e162c89c44f31131070873991cb77f14
+size 1943996
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00053/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00053/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9eeaf63aa77104bd7eb39c7a11eb9a4db3094cfc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00053/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fea9ee150c54e63dfedb0d9692a9ec6db486ced49120f4b86a19be09e53f8b8a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00053/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00053/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..51c4de34984ff02469ac103e16a1e66e6d3033dc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00053/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c265c0f69e03e7c422438440f06b451521d5d493a0a50eb52f92922f085fd908
+size 135942
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00053/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00053/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fef470ae8fc76ce7dbc8e752304cde69d80a9596
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00053/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5848600f6b2d91d498dadb04cb4ffe7124a8a693e96b92812b8baa25fc8e739f
+size 1987016
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00058/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00058/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..54d06fb7c149159a13dfa782ed2c8b2b4a9eedfa
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00058/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f41cab23cdeff86527a0ddfee377d7dd3fdb7c8cb05e7dba4af31795b951bac1
+size 1950471
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00058/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00058/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..14bbcdbad93c2d9afde648706c9155e104f68da4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00058/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dea396a46bb54c72e3f00a82c83b6dbade2896c09874186e61bc9d0846eb2aae
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00058/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00058/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b58cbab8d97ec4a158b3a3399f152e819c324a10
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00058/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5aff2925fc65d79349cabb9de3cab9d4702c4067ec9b1f53dee270a202466612
+size 136307
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00058/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00058/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..67c024933a6b854998ffb3a5e7ec3f3e2783ab80
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00058/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e209631e020201219ff3e93be22573f44b94094741e02320f9774e6d6671c5a1
+size 1994344
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00059/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00059/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7692f3b9b3262df5db80e33f27c3f2cb6bd707b1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00059/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e3792e3644c39a694c0a1fa8ce4659907b6b84beb30b3be074e6d8f467481e6
+size 1935525
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00059/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00059/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7e6a32804782197b06f62f70dc62bbd7ee6c88d5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00059/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e80cd03b2dd7282d80922710dbf62160e78e0af349064395b47c6f6353f1030
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00059/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00059/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..eee29411a31880d2f2a30f4e21527e19e31bf794
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00059/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92abcd1181e511676cf527736f64b66ba10272e684452420e815c9db02e15298
+size 137028
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00059/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00059/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..22be1c6e4740046ff3c8d1a76a7a32ff2efff777
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00059/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a727fe7aef8791393b7112d6f63a71794a578d5b077d985c4b0d89432e607e79
+size 1989493
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00062/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00062/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..93f30d8e2fc84fd0ade00d1dc97ce703d86aeb9d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00062/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1afed5d8ea6b5e60d96c352e5ba8d1bb80c684418447ccf7fcc551dc5279b001
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00062/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00062/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..844425084495400b87b8520a2eb217d0ff290e39
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00062/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2301d35e109ccc9b82a5a20ed60a496c6448bc18b97770fc35bd9bffaf1e0871
+size 136638
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00067/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00067/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..249763a56fd28dcb31b7b305502b8cbafb6a70bb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00067/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13a6ea588a80318e8ec1183d5586caeeaf6d616a7ef5fbafff75c2714aef4d4a
+size 1941753
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00067/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00067/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1c53f462276a2ea38d0e121fc2826213533d2b51
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00067/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d3824649f05d008d938c3d30221a7cf82b351b3e2c0918ad2c9ce9e252ab81d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00067/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00067/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a105d78c67dab479be9fd3eded4af988b64dbd91
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00067/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec6d4694e5566533b0a4d4e950707358bb1a3a22e39acbe1770022e018982d59
+size 139641
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00067/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00067/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6fcc91061bd9569fdaa6966d2b0c296ad4e45d6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00067/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5d78c351ab3b5fad7a7681977ec9f4dbaf93a7d70844e55c3162fc45c430c1f
+size 1987628
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00073/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00073/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2719c390e7faf0ec8e853718d441320374520d2b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00073/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de852ad18c04e0b3993c18ca94596491f1ed1a6b3b5d395c6ea4959888eeb416
+size 1939899
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00073/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00073/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e8011ec26917d6ad885f367f97ae5f5e0c5ad789
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00073/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ac99dc57a38be4d8a93925ee0a90347557cf4c87227a8f03a9882b893884739
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00073/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00073/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..46b2eee8237c66cab6a0d3a7c8214eeeac6dfef7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00073/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:754bacb0d24d80bc29f3d65f309e96fa1aaa6d565795514de6146fb5e5daf00a
+size 141165
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00073/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00073/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..24b78a483334941476a3794794540b05c06a6132
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00073/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0fe6d5823ef4d512a3d82fb0a66808d63cdf99e76af37e0afb3aecd47afa6d5
+size 1993630
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00082/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00082/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..52f455f480a143f0b8c93e7a56277bc3d7b6b798
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00082/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13bbccb5461bde322597d7cbe11c6a83c7e3d4754b0d7864f21d3b4d57f3f3fb
+size 1935438
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00082/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00082/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..77340af82b6090a66569dd6a8e9d63066d445d37
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00082/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3059583ea9dcbc142be1d2e2fce436f71b2e1b011b322c6d85868631e0db2d70
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00082/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00082/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f95bceddf393d199da80e04ab1e71ffc13e6220
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00082/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:674ddfa0e2d5432ca1e7e9ec22d42d0327fefec470c9d5f4ed4192e927c75e30
+size 144193
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00082/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00082/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..87ab4a19fbd3ab5a742634782cd151dfd99d42ff
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00082/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06affb0079141c9a0c5ac14b5a8edaf8217154323ca2f96555d1c9532846a036
+size 1995246
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00085/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00085/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0b5c5b1b0822c3c7b3d4f02ad97d208869ee4dd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00085/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82aa0d86528ea83e07f45779abed6aa406e22c73f060a420661aab5cc7b7bf57
+size 1935866
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00085/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00085/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9f638da94ee869e6e9e6a9c64f4963d69e05ec6d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00085/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ab56534594af8a1aa4f9bf1772a43ccb070a8f17b350fe5ff01047679eed40a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00085/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00085/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..79facb796d43865e7c981f43dcbfa9cea371536d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00085/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c01ac435e5ad274895500c406cd2fa5f6dd33ad7583d31403eacaba26efeca90
+size 142732
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00085/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00085/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c580190474faabf18b85b090e1c337f806afbb9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00085/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e2e6f61f944e9ee66caced15137ae22c3445a6d50042fde00c9e5d2e3083724
+size 2003279
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00087/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00087/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0caf99464268d66b0ace126aa09700edd7eb731
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00087/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b650ed3794d6bb6c9865b77a892d0e499ee91b111ac0105716c025c4b947f685
+size 1916850
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00087/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00087/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ed704024ff3b7f1e894559a52eff21fda9ba9e6b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00087/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8897cbce2b019d9e01c84d0a393f7c8ddce4246f5637d12207835e0f8e98333e
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00087/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00087/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..03851ab168f23b14ff9adde80a4d5c4bc1ca04e7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00087/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8e0a7bf4b9b1a439680d544f60295c33b18139de0145ce22e615bb4ab540660
+size 142435
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00087/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00087/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2b1ded455dfc4ee2e8501c43a1fc356e6721a07a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00087/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cab2957248347b1b5089d70691306ca0da0b13c33a10485979696b9216cd6b7
+size 1992459
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00089/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00089/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a4f8d6f56a5e0efab1ae5b0a951d283c96e5cada
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00089/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:628bb05de2acfffc667e1a22b2433f0cb89c3d7cd8dd614ee783fdd853730416
+size 1919991
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00089/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00089/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a4b7cc9e68bc3ce7be809ffbe3560c94bb0eaa63
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00089/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4052c1ec19d362329a07cfb154cc972ed60d09c3464f16914b1cd54173ce9c3f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00089/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00089/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d188acac3e6681f58b239fc82e3f3666498db42
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00089/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fd854f0606776208e8666afb2d72813d9abc5e33284b9a72e8b1003811311a2
+size 142224
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00089/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00089/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7f30fb0b5cc2d1987da6799067de78f4be02c94c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00089/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:414846b2809dc9b848d292a6cec17e21ebc7f469504c039db2f2de5368a1de6d
+size 1992208
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00090/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00090/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6ae3e50f7fdbce23b5ae98448f85ddeb37e42fc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00090/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6ccc850b46edef3e212fe320ddb71152c9d54ee332627cef62a3f58f3e28b9f
+size 1914064
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00090/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00090/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..372e70992845515a89fe39058910cd5f92f436ba
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00090/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:478c8653c113271fc29f605fabf48cb47badbf1c787bd66ef207547222869b28
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00090/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00090/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f3f9449c66759d7ada9c778800b2ae2448ce65c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00090/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0c625994f88662cea0a0b3f2d95a08a7ef141f7b8766b479b65f4bbe8d0d907
+size 141817
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00090/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00090/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8d3464f9729ac3a878172d4e7ac204a139b3f3e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00090/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcabd83b44ea21f07c7e4ab43053e0d404d532f4a4f5477dd2ae3d77c5022435
+size 1990511
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00111/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00111/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..5197655151b794cc3ca636534da25ee2322c6cc9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00111/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a0b403fd18108a492fb2755291900945a1d17451a83a67ba8f97c03b8f1d7fc
+size 1912786
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00111/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00111/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..cc4ed99f90784a4d9fc1ff0a5fdc2fd3c74fd704
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00111/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9317db45b581c8afea55f754385ebc032ae1f669ed1050e8f196c5cc6470d058
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00111/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00111/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4455f380f75b23376dd628a5832084576ca77c7d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00111/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f37afa231fae159eaa8ebf30405f1340d3e1eb48ac068d79f1b612ea94f0be0
+size 147647
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00111/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00111/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8ff2fbbf7a01831256b2a5dc83e0a6751453ee7e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00111/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ce60344515638798f7f06dcb367fd4448a98c6b43ad101338b879dd17f4463a
+size 1946332
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00112/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00112/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9819571aa53a559bc686c76a4dcb361fd8934284
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00112/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53530e6d4da9c33c2f5443e48f230113f274ac163097885849e510463307ac2a
+size 1907565
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00112/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00112/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ed5e73b928e5d222ad222ec74c3ca0ebfcfd7281
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00112/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13c16c840f4feb738fa7a294187c67c59efc86fe4427f806db53260cd9b0b149
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00112/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00112/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..12a83ad6c75ec0271d67b7246aedabfbbcef67dc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00112/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f94ff5c5d49380dcc0d926cf72eb5f23f17a2e64c78700b2689f5356f0557a9d
+size 148241
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00112/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00112/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..62f2807df85e76ee64e10ab01d8e8a280ed13c20
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00112/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b58d12bf968db800972fb3e5c0fbe4a5aebc558881b6994410c6a07b42d26749
+size 1940406
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00116/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00116/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..07c03071093b7492785e8687dc0b677648fc080c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00116/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:552f479d20171c52bc573c8884d67d4aed1d604987e687e6c4c60df7a800835f
+size 1902685
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00116/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00116/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fc6e87289990db5ece4bfabb649545a270f38c84
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00116/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a1c5a3957830a29e504d2063a6a751e509207f2f78566ff65d37417b2566dd4
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00116/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00116/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..921800c8e5725e4d46ee8c7a38de3fc6813de4cd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00116/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33c180c7db882b62ec3c9cacb54bd6fc1d9caf4039373e40efc3e77d5ef1f994
+size 148936
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00116/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00116/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c92a9512abd943d3b0dcfec32340da334f30340
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00116/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a5d6f13e82426c071ee1836a67261ef401a8aa10c220bbb61e0abfe87068864
+size 1931937
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00120/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00120/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8826f8f3d1890bcefec871d22adc9c593943569e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00120/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a830be503003d1d1ff1a50376d0c5328fd8d6a1ad2c09e9414875a83bfc6ffb
+size 1883890
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00120/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00120/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..de9fea165cd357e0fa1f1d48b89bf1406ca4548b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00120/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9359b94dceb5fb7950674a6ad5c95bf4337cd413e8394e8c60fb6223eb1294c9
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00120/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00120/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6a3b7ee899cd83673d70ddbdf26265c33ea6164
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00120/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:560f0d6a6aa0d75dc27514f58f66e16244799bd7bf10d658ce92dc1bedbef844
+size 147541
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00120/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00120/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b77f0ed4aea4a86d11f223af07a9db062aaa63a2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00120/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f98172d803beb3927fdaebcc4085385fbb3870407fd4b98dae2d01343ed1113
+size 1917752
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00123/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00123/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..13a32a9e38a50ea17aa16d6b43408f3df0c71fb3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00123/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c8a2077dea72ac1a769c5aab6dc043189f425c5dcde2088a76cfe3660e92e41
+size 1886399
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00123/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00123/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b2f513b13938a323ad489baa9d18cb721b8bcd9f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00123/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32c92c350857616735759d7efca20d0a8019535055eb84fe2242b3fba896afd0
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00123/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00123/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b783aa89cd767d80a6d43774aecdf40f4bcd9962
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00123/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ecd2a6303a8c20a79a49de134800d36da6942d4407e071b1bf693285ac25863
+size 146922
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00123/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00123/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c68591d7d83f7e24d1195d6027a6bf3e5fcc223a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00123/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7303affbb61cb89c186273d06cdcd041722b0169ee7632c5e056d773bdbb265c
+size 1902433
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00125/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00125/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..67f6025e462906d8b818ae552be2b88fcb8df994
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00125/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:383381c6b4499a990cbeb0035b063b61d007e3aca9633f1c400802a79d60a380
+size 1884026
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00125/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00125/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..17e48db4d6a50bd061bf3f2f299e8e081c76637c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00125/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98df39370c38a2245ec2d36f2a7f66b5805d3edccfe81a6744d1ef7e8dd07ef6
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00125/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00125/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4396c97e5a0b8f23ef9f02edf1d8200bd16d33e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00125/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3f5e7c60aa4a73eec439d3bb8c6d24b9bd7af289a2426f104875b18d79390d8
+size 145651
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00125/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00125/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..eea672e693ef3139fdd37d0dd8f68e95913049e0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00125/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b3c5f5e4f1121273c3e117979bd4fa6116e85ff069d43bbce7829f9129c588f
+size 1897176
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00130/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00130/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c295e1a91fc9836f0781eb436e487bb04a457144
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00130/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6799abe9485d9038697872ff95ea75b4405976f0a099fa78a10bb7dc75553e3
+size 1877872
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00130/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00130/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6ee850fbdde775a2388c01d66b46216fc12f66d5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00130/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d5e1f3c5d444cace4db4d0274d3137fe011497f449fdf55c9b93e5ed920def2
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00130/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00130/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f605515d1570a1f64e88d06074a1346e7c2bd0b2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00130/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c00060055aaad7541362e8d189b07a3099cecf798dd1399e214e30cd78232b51
+size 144065
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00130/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00130/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ba201d6370f055f620188d05d0f5be0874f93905
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00130/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a0865ff59c26503cc697a25305ec7e2d2bf3486e3a9825fa446c0d5e9a09bae
+size 1884181
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00133/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00133/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..194ccd1b809ec7850647e5767ba7c01690494e95
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00133/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91f6377492fdc9d2b6fae40449cc6ebbe64703a1772a8133bd0552654f1f398e
+size 1875201
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00133/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00133/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..220936731fd54cf1d7a7047ed7e2d439eab96e48
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00133/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae7c57c7f3b66f995062c8c26002c8978c1c0a619859f21a888b592d397e326d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00133/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00133/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c6854d9695272b7bf4fb63642c3f1b86526f51e2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00133/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76894be9a1365d73bf0bf7a79d7edb6c000e48ac287cb2d2e2a749570c36df07
+size 142601
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00133/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00133/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..87bd96f1d52ee116a6077e8c7f0e697f230596c3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00133/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c1866558cca7705f981bb8612889a3d54593c33cbbc4c7456ba6d8155f6e0b0
+size 1869367
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00144/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00144/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..58df1feb1bbcb55ec12587a09257813ee259983d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00144/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ce79cf6a9dca26ef01b6e36d7bc0d95f6da059a6c63df1e8907149690a6cc0c
+size 1890918
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00144/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00144/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6bb720761c43eb0a8830c65f9a98b15c66d5c220
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00144/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e99a3639cb46c9f1d3c1848471ef72d0cbc25f32289801d317616a37adbc2b9b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00144/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00144/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..474e9e4622f0bb3dbcc69b133adb1730710c0542
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00144/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0635f219ab7db28253baa2012c22a8ef40be1e50e034860bd802d3951c5384e5
+size 138308
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00144/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00144/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..691387c538f01cfe4fe1243ca943345782f428ec
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00144/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:47de7c040aff20861a553ba8584babcf74a81905c825990310110911f907d4cc
+size 1870420
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00156/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00156/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6291244a8b7230948f39897f30ba2aed31d83068
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00156/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9aaf28dd53000ddad6369936b4f299634e39ef990ddbbd5cdceefb3e18f0a73f
+size 1847651
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00156/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00156/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..03696999df80c38870cb646babe5ab152bd10991
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00156/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cac714f23fe11f5c4c1afc561ff43bde778a8173be9d853d95c6581e8b88247b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00156/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00156/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..219d4a9787a84356d51da9757dad15793959e121
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00156/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5811477e5e04448da29433369484b14a34fa95656d107efcbc9778d2ef079a39
+size 125514
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00156/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00156/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dbcbc8df874cda4eabf38b8916bdd4c93d0c1901
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00156/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f19e46da7f45b55ad8a4d3a258aeafbc5d70b4bf22498f777705fbc6c307bc63
+size 1840371
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00158/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00158/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..002ffa41339825ccaf774c0b2b05662cff3fb936
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00158/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f3a1b6e0a34e306fe7c1c136f815b66e15ecec49b4d045a32b93c3f943aa4fb
+size 1832591
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00158/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00158/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8d4a32d162f208240fcff9e6450c7c4c408cc24f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00158/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b07f19eef76f9d3edc41b31a5ce138eb21b9f654bcfd7b54683ce1409ef99d7
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00158/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00158/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..07cc0d0e2d58e5a7a3425fa6fef63a65ecec4e43
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00158/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb838f7511f06a73655201887209ace89ef116081cfc4d5e21cc1ec64a33206a
+size 122946
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00158/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00158/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a913a3d150cafa4659a237da9ce5d7d4ccf76c81
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00158/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa4e21fde86369039db6f3adf6d86d227adc2344a59a4aad0b3b1c1f39011fbd
+size 1832628
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00163/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00163/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ef4b53da3bc51df25432869cede159f7862d277
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00163/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c5f54a8adb480f695bfac6d60be3234750703928e75bee88195aff02831883a
+size 1836544
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00163/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00163/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ce176bb14cceea9abf6b4c2942ee5b1b15af2abd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00163/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b411d0c950e9249446b46204175525d2e97cad93d2a6323c3c08a6df8eb99c4d
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00163/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00163/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..149a12108119912b98bcc307118b001c624bfbf6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00163/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:893dcbd612eb668aefed2d737662d26eb2d88932e42a1e2b36965d47328ea3aa
+size 120528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00163/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00163/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b9793a1162209a65ac9fb3b2e5e3f90e99f57e50
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00163/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ccd3e217947ef951945545994b2e9f0b03d0f2e229f52b0fa9a61c027f73d67a
+size 1830392
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00170/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00170/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..944c1dcf0a7a7bd7116140cf527a6a83b27d5384
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00170/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:553e88984964954176a42d8c473c0cf91e90a7a64628b80b24d84d13d8bdb27b
+size 1798527
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00170/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00170/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1705104104dadf5ffee648feb539e8708be6fc28
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00170/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbe32e2ec6684a5d41f15e34e6fe7459ba0179ab6908c6d45cbf2e8933b6f1e8
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00170/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00170/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6ff59566345cff4cb9f043d274fbecc07c8a00f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00170/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aca4f1efe84e822b22d87b350964e87124b2cc972f7aec74f6d9ce57ca886af
+size 115862
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00170/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00170/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a79e5e7cd11880c48d25dbdef22cf86106f122ea
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00170/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9724d49bb7ed90787bb04f3072b30330ed0ff52c88880a1eeedaf9ad1e316539
+size 1785533
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00173/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00173/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..12527ceaa4ca373f6070535c711ab85f6947f0f0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00173/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1c46f28012c40558c693e101e0bc99f73827e9344a3e212cebc7d52a10b6f89
+size 1784285
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00173/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00173/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..14a5d4d1a77cc79145148a7edf24266d73e199cb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00173/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b34129b0ae4e117b44a423fa6b817f64156ffc56d1f427ecd84b6a66997308ed
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00173/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00173/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e47d3f70fb6d8431117966f3e2ca523fba860de8
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00173/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92810eaa0c0489fe3b4f5b62f5cd1948a42a3bb7a8c658a0700ec4f23bb7011e
+size 110543
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00173/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00173/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..836f1b6402b174c2c4fd3c3c2348851c184a263d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00173/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe8e313071ce260fd93ac88ab9a5b296868be012daf45229811ec39267aa7394
+size 1764583
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00175/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00175/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3807ab14b02ec52cc28736bb46c3c34d5e6bd42c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00175/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daa5756f63d7d337e80bfebfee4421b1d3c1f6475b33eb979424243d352427ba
+size 1794763
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00175/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00175/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ceee5a3a2c63ca40aaee5258782d7e88ad9a967d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00175/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a564d078f075b0bf2d6784dde909cd514681aa82cddc473649d15ecaa07a7846
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00175/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00175/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce5b35e3c9e718794eb5314d00a8f64351d18d20
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00175/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:26b50e8531c267b126a636a752404dc25d513b8c1cf45d8a7f19516270d78d3f
+size 109336
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00175/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00175/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e27a83b21b00ab109abf4649d14b5b06c376799
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00175/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fffcabd6c90a813630c574f12437f91fbf5bd248fcf6632429d097d1febf51da
+size 1761230
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00178/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00178/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b00401f6a8be3095bd45491a202401038f0597ad
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00178/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f8376ea0e20a60784ff366b461ea33c0fa892f1ee15a3648df97b948e621cef
+size 1765786
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00178/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00178/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..00cf8c6afdb8ec8d80b8934bb028d06b96e73db7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00178/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:118e061151e748eb10c454d04b7ea112dbec65e745ae92079807e6983795f64b
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00178/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00178/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5fcc365919a4af8817db45f3e0d7bdd2ef490f33
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00178/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e00872dfed6995caa75795253d44b89d2c5f68edaddfa9e40445c7eccdb045b
+size 103652
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00178/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00178/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..039950b571cfc1bc9e568cc3218b7a373f525c8a
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00178/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e0260a4a5ea9953161ad6012c195771f90995677f39402946e545b566826e43
+size 1733981
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00199/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00199/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b6126cd33d55244018d397e7dae9650a31f7e6c7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00199/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de446a5d33dd54228ec054bf435309286052488f6ca32aaf3ba08f42fe8a8c3b
+size 1648525
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00199/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00199/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e85a34a37f2cecfa9a32469ee62c4f34cfc7df77
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00199/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3939c01a2f2c0e3e37d498f566c4cb0104f6f24c0533b6e45468fb1e0222c25f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00199/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00199/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c2a5633aade27efc1442b8806807dcef9463be5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00199/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d133ca425e9534b989e18de73892e0237c8beef55f27d7ca6b1f8a6d32d67878
+size 69520
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00199/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00199/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a7902305076c34ff6a0fd2ea51e89e96a4d975db
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00199/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaf1b7c7c21716ad9bcae6186ea1ff1935a8c21d479cfda6cf82fe8e90a6d5bc
+size 1626938
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00201/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00201/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..130c4ad7f3e6ba213b2350a801b1261d21a6e830
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00201/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c6f6f7d5fcd4e855dd08de6e4afab5793926b33171d3449442ead5ed74f1849
+size 1646342
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00201/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00201/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ab5ddd6dc8a9e990bd2a50ba951675001e07231f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00201/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fec27c6ab168b503a1ed485333dcdc5d2aa9e483efe55979f213f75e4aa55616
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00201/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00201/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5482fdad81eb959f1f315ee48b19f24b03db9d2b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00201/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0632493221576b2477581b429d4804e8808be1ff1fd9a3cc3e607d3b24ba6ab8
+size 71070
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00201/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00201/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6be22d6f54e95837abe96606a86a2fa6888c5c22
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00201/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3a05075941c9df30e6b840ff299c055ccbce32cfece2dc28d43f2097947171c
+size 1619289
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00223/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00223/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7b87947c7025c02c83ac4077f921de0b55f30cbb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00223/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89ee2b3db5ed80e6451a60d10c8f55ab7b3f46b8974e63510aca92b76b38f13e
+size 1728844
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00223/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00223/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..74afe5d99cd576f3778cbbf36cdb9935dfa564e6
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00223/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f4aab89c29530f07da1990cca2f1c58ab706c09a18f033aee10f2c35103e46f
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00223/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00223/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a9b508db679bc3cf0fe92a67b339edaa8fc69556
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00223/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c30908598209df716af979e0336bbef4c6f2f3c14258557ce944a7469dd53aed
+size 55534
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00223/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00223/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0edea3c7c6b2bfcdd62f2e365fbe32f2793ca1d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00223/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dc7ddc2967bcbaa0bf594d7efbba538497b7533a79e41b9b76b58ed5cd9ad53
+size 1682283
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00237/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00237/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7814e0cac874b4a80cf8b63c0cf60ce8c6a7e113
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00237/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75be65604bf7781b530f732041c9c274bbe5b91d7385556d446869c82c3383a7
+size 1738455
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00237/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00237/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ffd392a127191bf6916cf33119991534d0dbe4d7
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00237/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:279755f7fd05dcdd779596287866c7e37495f3fa903c15e147443d1499ffb274
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00237/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00237/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..778d228b26d36845510045ce4599bd9dd33528fd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00237/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c3791ddc823dfe8b20133fdcaae07126b5f1a26b2c36a46d6a7c3628e9bfb68
+size 55806
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00237/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00237/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c506776ff281a79d130e24318aa42d300afaac23
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00237/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f561d3f2d191e02d00c1cb9d65f669457fad84c4c9c25b3db46e9b28b3286408
+size 1682251
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00238/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00238/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..278b145648843c113d4cafed47bf810c385b66ba
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00238/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebf9e1e303fa534f5251f4d08cb5b37150a003b0458f58e70c0a3bb1e273b99e
+size 1732295
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00238/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00238/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f64d26ce59edbdff16063e11ab97c4fbeef3aff2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00238/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca43417e8e39c0b918d0e3899150fb6fce38e8f60cc1669083a25d48f3300c74
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00238/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00238/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..562144459110045a8c4e897cb5126f658267a7e1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00238/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b9114a01fafe1b4b5d4ff860ec20f288bfa00bd15e5b4b7a5ae5d0935079d08
+size 57789
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00238/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00238/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5660cbad6b45017fae1a85f2638fa745e26b23ff
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00238/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7795e85082aefa3d5ef08e210984289be971eac36aaae6a6644c7e9fe66fc96
+size 1665014
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00245/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00245/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e3985e2a57aa396a50214232bda3ffed94598da3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00245/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62ee3cbadb4af7d6acf064c09aead64a2576921351f9e7251a2b6b084bd05f40
+size 1746778
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00245/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00245/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5a4e137d4e3b1c6d22fd44e16056b1927cabba82
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00245/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dbad6029b4e5caf7dad168f521a30674287a1f1c170cd8930fd456b56a1de54
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00245/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00245/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4c7d1b772c745aa8d65c593c8a99c43682268360
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00245/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fba7697a1e70a138258e36210b0c5043357b0d033ca9db64cdc5bdc43adfdb66
+size 71741
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00245/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00245/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e546b0a0e784cfe47692b90aabbc257da45dca16
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00245/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3dddb511e785a243d665806ab7c8ac83d4373241339c8e000902a956c99e1dc0
+size 1695148
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00268/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00268/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2a1de9f117f5835b56e77a387cba2be13861e50b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00268/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2402a3b540c163d2f865c266b376ca4722063d0341befd749c338294194b06d1
+size 1743071
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00268/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00268/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f40951b1a0129677d5fd0d02fea1294712a5d783
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00268/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:925f77c9cb7c24baeb0488edd534e0623025d63edbc36e3c883be3641e7064dc
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00268/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00268/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b856cca47b85f5d9d2d2d03a7d8b9d6a285beb64
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00268/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:307903c401b1c990fea4207b493c0022cf0db3876dd76839749ccb204ab09cd9
+size 113907
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00268/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00268/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..8d94b7365639e49528eda2b8da40c5f27c69dc9e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00268/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79bbd644fe155772f9dc4496eb90206ddeacca04242f41c6a60143d9e177f663
+size 1758426
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00273/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00273/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8eede8835147d576e3e7db84a002493c4ad6c5e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00273/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:770acc278db210048b191ae02cef4a70d4cfd4cc4641ec62e3e72a0db058f024
+size 1732613
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00273/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00273/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5755b3e861a8295e392f8ca31ff3924d74bedaaf
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00273/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e394332b556769037a963e28d56032f57b474a7164fdb2c134ce08c8714e993
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00273/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00273/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a540ae2b2b454a2c74374c9ba9c0908035c8110f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00273/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42961beff6bacf5c2b818d3a90c7cb222fb7491dcb4a061da6c483ca7174ad94
+size 127641
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00273/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00273/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa939dad23f8599fd68e9688f5b197e3bf7f697d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00273/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98be8670e274f9a6c36a91e9b3173cde7febd02b3e8ed29d939853fcb6879a54
+size 1749013
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00280/debug.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00280/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..94cf17e30c7a7aa36c0dc1d2c7cfcfa93ea961dc
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00280/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cf49a39a8e566217c74ebbafbcda149480fbe673912452227a785633cb4f9b9
+size 1714972
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00280/depth.npy b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00280/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3db5bd983f838408551f2d5d9dbd2e1accf413f5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00280/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbd71b61aca43c7588401dcbb9564f1528062958ca75cbd068da48981f083f85
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00280/instance.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00280/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..44577455772cb9967fb758c50416f3e71383a7da
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00280/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9837c25a35d57207981df1f84da5d5c5b0a4906e4b74198de5a12ca66056b21
+size 138973
diff --git a/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00280/rgb.png b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00280/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..fb15e6e61a10953ddd8df176f0e783643d9afcc0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777117052/ORI/frames_playback/frame_00280/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee5880c509cec7a8ea4088a12741c3a184a83a6500129c1e36aa36c5929e4ee8
+size 1747262
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00007/debug.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00007/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..eee979e7b6f03dd1d8673c89c5256a471a8c85ba
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00007/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4290a8e24e9b2b5dce165b19e8d9c8159346c0a303e23af19b6d57f31ea5d5f3
+size 1721240
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00007/depth.npy b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00007/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f2cf3252bfa14b074dfd48d7cf02b4c5c6ba0340
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00007/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b34e270be359d234203cd9664725a4de6c91c6fba042ec77783a4e32a92be27a
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00007/instance.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00007/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c19dd1a801766f5481726910044767851c13ccc9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00007/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a22eda4a6a72d6648a38baee44ac6e1b7947a5f81fa79a231877da067ccef6b4
+size 126897
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00007/rgb.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00007/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e4bc8a42df789f55922d3adff3cf31f5d5898362
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00007/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a9f27b2decdd595dae0aa5ffef5c51b037b1ed456e118c33a445142ae406c5c
+size 1683609
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00016/debug.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00016/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..64390dd5e2c06c15bfd9c37ab53de186b60925b2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00016/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a07a79279626e8ce882126fb6f1fb0dec2d00989d6a9b8515eb95a0426690e96
+size 1814525
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00016/depth.npy b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00016/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4601550db6a75c3164fef9054de9a0a6c9651799
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00016/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f609364037507ceae11786b2125ab22d683291a9bbfdd0f8bf9dc5c41c89d5cb
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00016/instance.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00016/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..18503f433a24a496355f7714d0784da069e2085c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00016/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f815fb2f366304ef6a4e9bbcce9039ad7eb021159e2fb928c3723eefbfabf0af
+size 136169
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00016/rgb.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00016/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4bb1a596ce8d49a3fda6833b7ac64c369f28d6ce
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00016/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c07b15d46d54365d8349d41d8f9741ccfdb17ef10ca2f2ae1a3b685c5dcccb8c
+size 1753548
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00028/debug.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00028/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1c2d81075eebfa419c1a0ed1f1aa1a491a1cf497
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00028/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74042e2d28f4ac2c852480cb320e0ec3cc788e66c75dd2d594c8665388f99473
+size 1845359
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00028/depth.npy b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00028/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c56dcd54277565f1c3edefd045d6101359c5abfd
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00028/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f757402484a1af28e57b8c54994148197435d40988230b712845fd822954527
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00028/instance.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00028/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6d2e4417dafec715a1bb9c883584766ad0791805
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00028/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7de7a7ffc5c203a6fce5f628bf0c662ae8b45f9971c72158155037ca4486da09
+size 128067
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00028/rgb.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00028/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..348c27dbfc1b4fe453ff7dc0a03a05f01062e91b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00028/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:502f325eba840eaebf7d1e14d0afa16e015e5331b086c9086fc61f9ee570449c
+size 1787792
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00044/debug.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00044/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4329d8c011ab645723f91b5e466e4959a2b80ae4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00044/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34a1d90d8e8551815f12f406ed5f9cb176d2dbf17c78cbe761e13e1b42518eae
+size 1894006
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00044/depth.npy b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00044/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..21095b0fd35b605847f2d10fabef897f20911713
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00044/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5bc309d296e12db497e3153d944f2cafdbdd6ecdbef27e08625ae69eedda126
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00044/instance.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00044/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..03287a98320bb61b9321ce11cac73da0bb2eabf3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00044/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab1383c911498a6be8e86c851037800ac43d29b51cee105e23ab4e1ba038b795
+size 117816
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00044/rgb.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00044/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..98e727d223d7d325acb10438a6b87248d66931bb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00044/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f5eec89b695c2a119c26d4d0fe07d5732dbafeeea6d9f810a7716425ab87e6c
+size 1788819
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00055/debug.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00055/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..897bb91998393314ff8e01b92145632699f022de
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00055/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed11a6d372ca0681b5f922d58fc553cc01fd17597da975a8653285ad0c4d3b92
+size 1925785
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00055/rgb.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00055/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..21885825a5f2b7d7b76cd98af29d3244f6e42d60
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00055/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09ff19c265aed7b9f368d6d9658a5dbb4f50a962e6639018b71f4bd06fc76b9c
+size 1865170
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00060/depth.npy b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00060/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0136191c165707a353ed6c599981464b6146f365
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00060/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e9aae48bde8987cfe6cfbbaaac937fb59a6332e2aa8d1ca6c61837a990906f2
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00060/instance.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00060/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..89edbe2cdc181bf6518eeb787d1bb46d063cbf59
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00060/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a235fc15f8980d568a978a3f95b86beab470e51b2515ab7c92ae3cbc2e5d6ba
+size 119009
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00074/debug.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00074/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c891587fea970224ac6d5366ca844c1931d4ae2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00074/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:284ae6391960aa9d626afaef5e175a666fcdbc0a341c4ec5a4c3a1c868d7b479
+size 1920449
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00074/depth.npy b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00074/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..69a78e2472e2bb50ba718a07306e44dcef2c84c9
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00074/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a260757270c6eff1323b755c02de356a13cc7f4d3c6f04402153757ac120c034
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00074/instance.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00074/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..edf148777d9e04e9c35db45e6d9f2e7471ec0196
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00074/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66e84ee2a1e74299fd010774cb51ad45fb076b79cc2bd62fa45e01989aafe3cf
+size 129893
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00074/rgb.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00074/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d0dae86d645b08770ffc9426914b1febf80c37c1
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00074/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0860ff62f4de00ab99e3cff142b15e073d79cfb669f34cd83cad27834c9eb384
+size 1898689
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00076/debug.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00076/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..032c00f13933f09a17b0f42c44ee6f4f31ce25d4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00076/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c76efba56f69f2c711a50c764f9d939321dbd07be6c31b46400c5612185f3e57
+size 1918599
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00076/depth.npy b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00076/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7437e15074a32903c84e6f13e4bea965b966ceac
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00076/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:399a0ccc2a885d87a9533ed6c124ce2f2ad49e1728041ececf65efd2b0e22416
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00076/instance.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00076/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ce04efbee251fd6a4b7eefa6b1e0f618f348a7d0
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00076/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49ced939eb02b7cd1d923f64c3859b085897d192bc1c2fdf91919ae1440f7cfe
+size 131498
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00076/rgb.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00076/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..10ecb03a9543c4a8113ebd17950e9ab3105d499d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00076/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e852204dcd53eb32391725ac997e8ca1fc0f25a8889697e58baec4c533138a2
+size 1901920
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00088/debug.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00088/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e9628a97a2ba5e25a1ec07fd75be465ae0264104
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00088/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89fec746cf6e2af27101b387e86f08d4e07b77afc4230c1d5cc95d76f40821be
+size 1934459
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00088/depth.npy b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00088/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fe82ba0968ab1cf6ab50819b3e19ff6acd3fd94b
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00088/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cd4c39367e363fcca455f1acf4c5cfc62761d60e802a280962df3c76d29f2a0
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00088/instance.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00088/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2eb9f2dc8999382aea9e1aa8c91069ae08419dee
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00088/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e9142f12d47a631ed7180d7739806ad27a235526257e6c068229d5a5adb284a
+size 142530
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00088/rgb.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00088/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3f9ae3710fd80c574d416bb158ecf6c95f3f2726
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00088/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fac6606463bdec9cee980cbea41c2a1a8c0098e829e9afa4b2318f1237b69112
+size 1923410
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00092/debug.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00092/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3d6da861f15280e2f1a638aa87939b5df63fa227
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00092/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e7a14cd975da0c09e6421b2386c4289499b801668b65a9b3f9e84074b7c7e8f
+size 1926761
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00092/depth.npy b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00092/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..564b55b6924b4f201f72d15ae2f8e4f51d39f48c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00092/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d485c0cfddda44fed32b4aed1f22e57fc094a08dd2d19dd6c341ff9379b0ca2c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00092/instance.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00092/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..47a52ee539258548818f35fd492f3705968196e2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00092/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65e19d7ec1e0875917ebee1308002d7c42deea9e68f7b30e586c1483ead5344e
+size 140859
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00092/rgb.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00092/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a664f3002e8d4b891d3321a240c1770996f41714
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00092/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe77f3de829eefb52b9b5d08292815aec50fb58e4d8e8b9dd0d78d7dfde14d7b
+size 1927649
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00096/debug.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00096/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2884e9238d7702f4b1e5fbfcd74a2b4b92740b0d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00096/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae8f1a67f4a0d1521a8cdda8a185fbfeb365f7a13e6025f128d586575bbe0b2d
+size 1915402
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00096/depth.npy b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00096/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..034c8f570baaec5153ae3fb48033e6f09bafc589
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00096/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c9ea3fe1be4c5d62730dcc803b4f004be824322ebfab175ab83cf54b537e937
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00096/instance.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00096/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1998cfc23b037005d58eaa0c4d79aae66bc897f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00096/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c38431840d9ce534e907df529c22abe14f0848cd4a05920aaa65d18ed976e22d
+size 139749
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00096/rgb.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00096/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5b6257f95508a3d72be5256e30c9782df0a4092d
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00096/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f716c1193c6b126bf87fb246243664de1c77623286f64c2a8673dc1ec2f4ce85
+size 1929378
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00105/debug.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00105/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c3c9d1d30795f94556855df69ef923ec88abfb0f
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00105/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d363e6bb4c90e83deba28e5b0b5ea6aa47f1ecaa0f73f600c0e6a2663a557f30
+size 1899235
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00105/depth.npy b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00105/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b2b0b209c276b051afa073c43e9451aee9d051da
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00105/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3188727f1ab803116c00aee0faee1ab6860625cf8f9bbd3e6bafccc973e12fb1
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00105/instance.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00105/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b98dbcbfd3c9659a08558d35ccc43c3dfe22c016
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00105/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:625a8cacc9d8a1fa4ec5eeb0f83e8190b214b3944632c7e123096d3df0327592
+size 144928
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00105/rgb.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00105/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dcb6e38a22c4e62eea6b90b54c386ec04b75af78
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00105/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8760216a364333d0c45911aa61a4c3ffbc804cbb45df71beb414dc3c2196879b
+size 1953991
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00113/debug.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00113/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4534cc3c6dd010f43f7c8292ca5c5b8815fd5a5e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00113/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0b0ce83b747230971b74efd8dd8e94422276150f72546001f7828f7d76ce2ea
+size 1982289
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00113/depth.npy b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00113/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d208e1d443a5e7bce8e21ccf805313c52f78fe50
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00113/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5eb4815d6a94af02881d472632a2af36149f948e57b1fe1f19becafffc2e3a77
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00113/instance.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00113/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..7e096fa3059fc02c57a7343ba4b0039a669a7537
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00113/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18222b396f44b730893b5cb3256b129a0a8b539ab327cf16f0726f02eba41c80
+size 144887
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00113/rgb.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00113/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c248617ff15e217bbc903a9815adeae10f7655eb
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00113/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:131088c404e0681a68fe51742c25ab20703126533229ca071889504d4bfbe3bc
+size 1991506
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00126/debug.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00126/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e7c4afea6c7b65cd71884e2bccfff55db513998e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00126/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2308e7d74e1b5213a77a0cf7178195697207eec80205e269b0e6c32cb87a6ac5
+size 1955965
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00126/depth.npy b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00126/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..fe1e91b920f234b09be6656b5e53393f82017298
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00126/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9e42622a0081cd5247190ef61f7b498e2b72f786e4a67fcc4e49d8bc9f75411
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00126/instance.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00126/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4227bff66aa015012bb733d0126530cc01d23e61
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00126/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12c0c11642ab72f9d1272b1e16eb5023198df9b7f58b5c544e91f49f297400b3
+size 156025
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00126/rgb.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00126/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..54a959407b466a708e6be33cd7b6223bbd4a55da
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00126/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:524ae886b5e379740568fe683748ac4e8ad07810f5df8964e6a3addc6cfe416c
+size 1975179
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00128/debug.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00128/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1fabdeb8d325cebc496e18f055b4b6793ebf9099
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00128/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c6d2886db4135375fb8c94f6adbe676fd7e0fb585e187fa680ee47a58618ea7
+size 1957739
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00128/depth.npy b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00128/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d5c37374943232d4f5141e5bd376f31a5140513e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00128/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84c22aac717845f8422672cf8ed4e10332d39b85edcf2abe03e7148161f49e82
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00128/instance.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00128/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2785e3eabcc47a1266ff5e9acd1e8f4d67a232a3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00128/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f4234d115d9c961bacb8ad09c4d51a475588265db327178b39d4d5562dbeee1
+size 160933
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00128/rgb.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00128/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0daf284af9f6da8a22d912153dca9d1487ff12ed
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00128/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85d78aa1b7f89c96f5508f6b80ff2e71685af95c7cd3d5c18844d7ee4cade499
+size 1969582
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00136/debug.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00136/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e0af487b42b21b67398440ccd01c7a24ca725ea2
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00136/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b41f6cf0cfd8acf9a5361504a9d95a644221acba7057a204657a9423c70ef4c6
+size 1981974
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00136/depth.npy b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00136/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8e04e8d400243560009feae7efe99b69526b0f48
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00136/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d65186d8b67f1ae860ea8c0a8aeff7ff51205126fb3d9eb1b5ee7fe8224a6e03
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00136/instance.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00136/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2798468a82006c0dfcf80da66cb02a8cefa56935
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00136/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06f56e0d78a7402fe1751c4b3dbb55594a6bfffdf248519b2544ec21fbe1af8f
+size 152610
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00136/rgb.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00136/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0f87a5f4b1249f00b00c1d998b8d3f68faa024e5
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00136/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbb0a15e1c7e36830a00893860e92328fb54c2be9555b9f4cb98835c27145354
+size 1968383
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00167/debug.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00167/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4e15dfa4eb47079104022f7c0a3963e9b0aca949
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00167/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:feeed842c672d844881cb353c78a3ed7d0264ec6732a23251f16879b05987e7b
+size 1836181
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00167/depth.npy b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00167/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7e5392d8875d849957f7cdc58f4de0c1c6898b43
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00167/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68bdd0db383178753054705b8a7da578ae4cdb858dc85bfc7b5961ea8c5260d4
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00167/instance.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00167/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..5a8d838249d75a61f44b496b6590febbd2086e4c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00167/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbf8539e65f45a1cd2bd91de06c343c997590744bcb5e1200f01ccf1ed799468
+size 154766
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00167/rgb.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00167/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..733b323bbed22071fe1f0c5bcb7f1770801b7b1c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00167/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7298540c98dbd521d971db57186219d94b64d2315d32a120838f44f9c9d5a6a7
+size 1789760
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00171/debug.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00171/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..de267e576d34778d94391ae985ef9fb1269edd11
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00171/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3198c8ffecde991bba19461a491a8582d50c5935a24e71c0c3b9a2c4a0b40069
+size 1828960
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00171/depth.npy b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00171/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d6463ac283cf6233409926991d7e88fd9f7bde06
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00171/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82a4ea80b5d7027a851c7fe4ea870e851cdd6b743c60e83cca49636153ed0531
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00171/instance.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00171/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..96fe0e7b22a4dfd929cef97a55a95d1ad5a588af
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00171/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d91c3d00246199a01d86a2dcc92bce8fa1efd9218b59090ec70222581fc184d2
+size 148603
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00171/rgb.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00171/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..60ba2dbd7f6b89d980bd40565ed7e57012bcca44
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00171/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e38c1f60cea9d7d2389943f88118f2ea35ca7f03efb9b8c790f1b713881d530d
+size 1804004
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00174/debug.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00174/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..a8deaba2042c613ad89687373d7dbe1ead24ae1c
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00174/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e158eefb3ff7c18fb091230d3024ee648fa3b647ec30ab8eb5b73598a8a980c
+size 1798755
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00174/depth.npy b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00174/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f99bf6bde6d686eea096b2314a98c1f487650ece
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00174/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98cd5d77b70a9b53a6ca1dd5f9c02082aca6339c106742b598adcc81cd620538
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00174/instance.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00174/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..19d09a620d73263270e67de76ae49850ea54c3f4
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00174/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e383252fc6c7d36ec99d1de30bb3d63f6269d6d4819fd6af427e3c0d73c9b88
+size 135548
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00174/rgb.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00174/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..56c20295818fe063095e8ecbc06fb36a42c67570
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00174/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b25e9370c6624164636076049ee0df4e86bb54e96a5232939c81310682023450
+size 1777046
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00181/debug.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00181/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7bfb15043e1522cde2c3acff94ddeece4eb4c352
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00181/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d932f6b06e188088850a31bc8a1a102d86b83342216e529c6984b6b142d347c9
+size 1805895
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00181/depth.npy b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00181/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..096cdf095875cf3abff5783c4968495dc4bcc0f3
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00181/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ba1edb309f73d335ce320afda5f21739cea0ae7f2fd57f275c86a8c24bcdbc4
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00181/instance.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00181/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..11f411c3f31386646d85789018b84912e1cbe791
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00181/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:757487a0050f50a0439b05c99e86979122adb9bf8e767851a1f53858e4e0528e
+size 148562
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00181/rgb.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00181/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..37cc700330764cbaab7b8d7db900e3a84cb83412
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00181/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8682a527ccc47c6472a7601cbd21384c27f3914b941f2254d8d0706eb9efc799
+size 1800025
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00191/debug.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00191/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8e7a9f1754a7a9f98510993b86c3e56c3879468e
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00191/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2da518fc70f2734cb98324f3ca105595af47e7d8b7fdbe36f39e381b39bd6a3c
+size 1810130
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00191/depth.npy b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00191/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2776e96502e78601a361dbb0cf9d3ad4e4493119
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00191/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97a93810e2fed23f91602d3868b7c7c1c5da9c5abc1ab1022558575dd61d849c
+size 3686528
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00191/instance.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00191/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fa9652cf3402c621fbe017bdfe057bcd9f2661aa
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00191/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d122d8edafa048ae7306aef8887f66e3e60a21a4d43f7acb9e102345653ff707
+size 159646
diff --git a/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00191/rgb.png b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00191/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f04641418b27ed94e29e9093cec0183b80d9b6ae
--- /dev/null
+++ b/data_v7/Town07_Opt/trajectory_1777247019/aug_001/frames_playback/frame_00191/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be2ba43488df6c7d1a2d1ce0422b08c5000ef909e9372ff6145a00f5d7d9cc46
+size 1837649